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Riftek RF627 Series User Manual

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LASER SCANNERS
RF627 Series,
RF627Smart Series
User's manual
Certified according to ISO 9001:2015

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Summary of Contents for Riftek RF627 Series

  • Page 1 LASER SCANNERS RF627 Series, RF627Smart Series User's manual Certified according to ISO 9001:2015...

  • Page 2: Table Of Contents

    Laser Scanners Contents Safety precautions .............................5 CE сompliance .............................5 Laser safety .............................5 General information .............................5 Structure and operating principle .............................5 Configurations, operating modes, options .............................6 Basic technical data .............................7 7.1. Specification ............................7 7.2. Working ranges and dimensions ............................7 Example of item designation when ordering .............................10 Overall demands for mounting...
  • Page 3 Laser Scanners 22.1............................42 "Dump control" section. Building 3D models 22.2............................43 "3D view" section. 3D model display parameters 22.3............................43 "Download" section. Downloading profiles 22.4............................43 Operations with profiles 22.4.1............................43 Accumulation of profiles in internal memory of the scanner 22.4.2.
  • Page 4 Laser Scanners Annex 5. HND1 protocol, version 1.0..............................102 31.1............................102 Ethernet interface - link layer 31.2............................102 Description of HND1 commands 31.2.1............................102 Getting the protocol version 31.2.2............................102 Setting the laser intensity 31.2.3............................103 Setting the exposure time 31.2.4.

  • Page 5: Safety Precautions

    Laser Scanners Safety precautions · Use supply voltage and interfaces indicated in the scanner specifications. · In connection/disconnection of cables, the scanner power must be switched off. · Do not use scanners in locations close to powerful light sources. · To obtain stable results, wait about 20 minutes after scanner activation to achieve uniform scanner warm-up.

  • Page 6: Configurations, Operating Modes, Options

    Laser Scanners Configurations, operating modes, options The following configurations are available: · red laser scanners, 660 nm; · blue laser scanners (BLUE version), 405 or 450 nm; · infrared laser scanners (IR version), 808 nm. We use different lasers due to a wide range of applications. For example, the use of blue lasers instead of red ones is optimal for the control of shiny materials, high- temperature objects and organic materials.

  • Page 7: Basic Technical Data

    Laser Scanners Basic technical data 7.1. Specification Sampling rate, accuracy, resolution Nominal sampling rate (full working range), not 485 profiles/s (standard mode), less 921 profiles/s (DS mode) 4884 profiles/s, Maximum sampling rate (ROI mode) 6379 profiles/s (DS mode) ±0.05% of the range (standard mode), Linearity (measurement error), Z axis ±0.1% of the range (DS mode) Linearity (measurement error), X axis...
  • Page 8 1010 L=554 mm Detailed CAD documentation (2D and 3D) is available here: https://riftek.com/upload/iblock/757/2D_CAD.rar https://riftek.com/upload/iblock/94e/RF627_3D.zip The housing of the scanner is made of anodized aluminum. The front panel of the housing has two windows: the output window and the window for receiving radiation reflected from the object under control.
  • Page 9 Laser Scanners Figure 2 Figure 3 RF627, RF627Smart [Revision 2.1.2] 20.09.2021...

  • Page 10: Example Of Item Designation When Ordering

    Xemr - 42 mm, cable length - 5 m. Note: Overall dimensions of the sensors with the AK, EW and AC options are given in Annex 3. Detailed documentation (2D and 3D) is available for download on RIFTEK's official website. Overall demands for mounting The scanner should be positioned so that the object under control has to be placed within the working range of the scanner.

  • Page 11: Cables 10.3

    Laser Scanners Connector 1 Connector 2 (Binder 712 Series, #09-0428-30-08) (SACC-DSI-M12MS-12CON-M12) Designation of contacts is given in the tables below. Connector 1: Assignment, 100baseTX Assignment, 1000baseT Connector 2: Assignment Note OUT1- RS422 IN3- RS422 IN3+ RS422 IN2- RS422 IN2+ RS422 NEXT_LAS_OFF Hardware laser...

  • Page 12: Button And Indication

    Laser Scanners Cable 2, free leads: Wire color Description Black OUT1- Gray/pink IN3- Red/blue IN3+ Gray IN2- Pink IN2+ White NEXT_LAS_OFF Green IN1+ Yellow IN1- Violet OUT1+ Blue Brown 10.3. Button and indication To reboot the scanner, press the Reset button for 5 seconds. If you press the Reset button for 1 second, a broadcast packet containing a response to the “GET_HELLO”...

  • Page 13: Network Configuration And The First Connection

    Laser Scanners https://github.com/RIFTEK-LLC/RF62X-SDK · Developer guide: https://github.com/RIFTEK-LLC/RF62X-SDK/blob/master/Docs/RF62X-SDK.en.pdf · Latest library releases: https://github.com/RIFTEK-LLC/RF62X-SDK/releases · Demo videos of compiling and running the SDK : https://cloud.riftek.com/index.php/s/q55Zq8i8kccAERj 3. Through Web API using GET and PUT HTTP requests (see Annex 4 of this Manual). Network configuration and the first connection 12.1.

  • Page 14: First Connection

    Laser Scanners 12.2. First connection · Perform the network configuration in accordance with the previous paragraph. · Connect the scanner to the PC or to the network switch. · Connect the power supply (9...30V) to the scanner (cable #2, a red wire is "plus" of the power supply, a brown wire is "minus").
  • Page 15 Laser Scanners 3. Parameterization tabs. 4. Visualization area. 5. Control buttons and notifications. Area 1 contains the scanner name, scanner model, serial number, firmware version and measuring ranges. The scanner name can be changed by the user. Area 2 contains the following indicators: Group Icon Description...
  • Page 16 Laser Scanners Icon Description General scanner settings (CMOS sensor parameters, ROI General parameters, laser control, data stream control). Profile extraction settings. Profile Settings of input channels of the scanner (triggering modes) and output channels for synchronizing the operation of several scanners. Triggering Settings of the profiles accumulation in the internal memory of the scanner.

  • Page 17: Search For Scanners On The Network And Connection

    Laser Scanners Search for scanners on the network and connection Enter the IP address of the scanner into the address bar of the web browser and press the Enter key. When the scanner is detected on the network, the browser will display its web page.

  • Page 18: Display Modes

    Laser Scanners 15.2. Display modes 15.2.1. Profile mode The Profile mode is intended to view a two-dimensional profile on the grid. The vertical axis corresponds to the Z coordinate of the scanner, the horizontal axis corresponds to the X coordinate of the scanner. The profile is displayed in red, the measuring range of the scanner is displayed in white, the region of interest (ROI) is displayed in yellow (if ROI mode is enabled).

  • Page 19: Video Mode

    Laser Scanners 15.2.2. Video mode The Video mode provides viewing of the video stream from the CMOS sensor of the scanner with overlapping of the detected profile on the image (in Raw mode). Image transfer speed is determined by computer performance (average value is about 15 frames/s).

  • Page 20: Network" Tab. Network Parameters

    Laser Scanners "Network" tab. Network parameters To configure the network parameters of the scanner, go to the Network tab. Current Network settings: Parameter Factory value Description Speed (Mbps) Connection speed. Available modes: · 10 Mbps; · 100 Mbps; · 1000 Mbps. Autonegotiation Automatic negotiation of network connection speed.

  • Page 21: General" Tab. General Parameters

    Laser Scanners "General" tab. General parameters To configure the general parameters of the scanner, go to the General tab: RF627, RF627Smart [Revision 2.1.2] 20.09.2021...

  • Page 22: Cmos Sensor Parameters

    Laser Scanners 18.1. CMOS sensor parameters Parameters: Parameter Factory value Description Frames per The current number of profiles (frames) per second that the scanner second processes and transmits. Double frame rate Enable / disable the double frame rate mode: · (DS mode) ON - Enabled, the scanner works in DS mode.

  • Page 23: Laser Parameters 18.3

    Laser Scanners Parameter Factory value Description · Column EDR – The expansion of the dynamic range is achieved due to different exposure times for the even and odd columns of the CMOS sensor. For odd columns, the exposure time is lower. It is used in the control of complex objects containing areas with different reflectivity.

  • Page 24: Multiple Exposure Mode And Edr Mode

    Laser Scanners Exposure time is too high Exposure time is optimal 18.3.2. Multiple exposure mode and EDR mode Multiple exposure mode (Exposition control > 2 exposures, 3 exposures), as well as EDR mode are intended to expand the dynamic range of the scanner. These modes are used when the objects (or the surfaces of one object) located in the field of view of the scanner have different reflective abilities.

  • Page 25: Removing Background Light From Extraneous Light Sources

    Laser Scanners Select the multiple exposure mode and specify the recorded values of the exposure time, or select the EDR mode with the corresponding exposure times for the columns. As a result, you get a high-quality image and a profile of a complex object. 18.3.3.

  • Page 26: Roi Settings

    Laser Scanners Images and profiles with the "Difference" mode enabled. This mode provides almost complete suppression of a stationary or not rapidly changing background relative to the frame rate (glare, reflections, superimposition of light spots on the scanned surface, etc.). In this mode, the profile rate (PPS) will be of the frame rate.
  • Page 27 Laser Scanners ROI size, DS mode DS mode (% of MR) / (lines) disabled enabled 100% / 488 65% / 320 1335 41% / 200 1100 1965 19% / 96 2029 3325 13% / 64 2741 4223 6.5% / 32 4223 5788 5% / 24...

  • Page 28: Data Stream Control

    Laser Scanners 18.5. Data stream control The Stream parameters control the data stream of the scanner, the resolution along the X coordinate, the current format of the scanner data, as well as the presence of the brightness values in the profile packet. Parameters: Parameter Factory value...

  • Page 29: Processing" Tab. Profile Extraction Settings

    Laser Scanners "Processing" tab. Profile extraction settings The Processing tab contains parameters that control the procedure for extracting a profile from an image (Pre processing section) and filtering the points of the selected profile (Post processing section). 19.1. "Pre processing" section. Profile extraction parameters The parameters of the Pre processing section define characteristics of the profile extraction algorithm.

  • Page 30: Peak Selection Mode" Parameter

    Laser Scanners Parameter Factory value Description "Intensity clipping" = 4% "Intensity clipping" = 70% Peak selection mode Max intensity The algorithm for determining the peak brightness in the image (see par. 19.1.1.) column to obtain the profile point. It is used to suppress false images resulting from multiple reflections on complex profiles.
  • Page 31 Laser Scanners The Max Intensity value determines the selection of the profile point based on the maximum brightness of the image in the CMOS sensor column. The brightness of the re-reflected signal may be greater than the brightness of the original signal. The scanner incorrectly selects the profile, placing it both on the initial laser line and on the re-reflexion.

  • Page 32: Post Processing" Section. Filtering

    Laser Scanners 19.2. "Post processing" section. Filtering The parameters of the Post processing section define the operations performed directly on the profile points. Parameters: Parameter Factory value Description Median filter width The size (number of points) of the sliding window of the median filter.

  • Page 33: Triggering" Tab. Triggering Modes

    Laser Scanners "Triggering" tab. Triggering modes The Triggering tab is intended to configure the measurement (synchronization) triggering modes, as well as the scanner output channels. RF627, RF627Smart [Revision 2.1.2] 20.09.2021...

  • Page 34: Time Cycle 20.2

    Laser Scanners 20.1. Time cycle Image capture, processing (profile extraction) and result transfer are performed in a pipeline mode. The pipeline mode is illustrated by the following diagram: Description: Frame (profile) period. Frame (profile) rate. N-1, N... Frame (profile) numbers. Event Event that triggers the measurement cycle of obtaining a single frame (profile).

  • Page 35: Synchronization Diagram 20.3

    Laser Scanners 20.2. Synchronization diagram Block diagram of the synchronization module: The source of synchronization events is selected by the Sync Source selection selector (multiplexer). For external synchronization modes (External), the divider and sync delay (Divider, delayer) are available, as well as a special counter called the Encoder counter, which provides uni- or bi-directional pulse counting at inputs #1 and #2.

  • Page 36: Selecting A Source Of Synchronization Events

    Laser Scanners 20.3. Selecting a source of synchronization events To select the source of synchronization events, use the Sync source section of the Triggering tab: Sync source Description INTERNAL Default source. Synchronization of profiles by the internal scanner generator. The events that trigger the measurement cycle follow at a frequency equal to the set FPS.

  • Page 37: Setting The Inputs

    Laser Scanners Parameter Factory value Description Divider is "2", it applies for every second signal at the input, etc. Setting the Divider parameter allows, for example, to match the frequency of the input signals and the permissible frequency of the scanner.

  • Page 38: Examples 20.5

    Laser Scanners Parameters: Parameter Factory value Description Type Unidirectional Counter type:  Unidirectional – Unidirectional counter (non-reversible).  Bidirectional – Bidirectional counter (reversible). Reset time Resetting the counter after a specified time in the absence of synchronization events. Time out, us 4294967 Time interval for reset in the absence of synchronization events.

  • Page 39: Setting The Outputs

    Laser Scanners Event source How it works Options How to install · Encoder, two phases and Same as #6. Same as #6. Same as #6. · "0" mark. The measurement counter is reset Connect phase Z to on phase Z. input #3.

  • Page 40: Triggering Settings" Tab. Synchronization Of Multiple Scanners

    Laser Scanners "Triggering settings" tab. Synchronization of multiple scanners Where measurements are made by several scanners, it is often necessary to ensure synchronous measurements, in order, for example, to combine profiles obtained from different parts of the moving object into a single profile. When installing scanners in a line or around an object or opposite each other, it becomes necessary to ensure asynchronous measurements in order to eliminate the mutual influence of laser beams on each other.
  • Page 41 Laser Scanners · The Master output is connected to Input #1 of all Slave scanners. As a result, the lasers of the scanners of the "Master + Slave type 2" group and the "Slave type 1" group will alternately turn on. NOTE: The total accumulation time of the Slave type 1 and Slave Type 2 scanners must not exceed the measuring cycle time = 1/FPS.

  • Page 42: Dump" Tab. Accumulated Profiles Parameters

    Laser Scanners "Dump" tab. Accumulated profiles parameters The Dump section contains parameters for working with accumulated profiles. 22.1. "Dump control" section. Building 3D models The parameters of the Dump control section determine the parameters for building 3D models. Parameters: Parameter Factory value Description Movement type...
  • Page 43 Laser Scanners Parameter Factory value Description  Step counter – Encoder counter.  Measurement counter – Internal measurement counter. 22.2. "3D view" section. 3D model display parameters The parameters of the 3D view section determine the peculiarities of displaying the 3D model contained in the dump.
  • Page 44 Laser Scanners 22.4.2. Viewing accumulated profiles To view the accumulated profiles, open the Dump tab by clicking the corresponding button on the left panel: To view the accumulated profiles, it is necessary to select the Dump source in the data source area. In Profile mode, the selected profile from those accumulated in the internal memory will be displayed.
  • Page 45 RFProfileView software. Download link: https://riftek.com/upload/medialibrary/558/RFProfileView.zip · 3D - Export of a point cloud in obj format. This format is a commonly available format for describing 3D geometry and can be opened by almost any software for working with 3D objects. For example, the MeshLab software. Download link: http://www.meshlab.net/#download.
  • Page 46 The firmware update file is provided by the manufacturer as new functions are implemented and bugs are fixed. The latest firmware versions are available here: https://cloud.riftek.com/index.php/apps/files/?dir=/RF627_Firmware Procedure: 1) Click Choose file and select the firmware file in the «.2fw» format.
  • Page 47 Laser Scanners To restore settings after saving incorrect parameters, update errors and other cases, it is possible to save the complete internal state of the scanner. Clicking the button will generate a file containing the complete state of the scanner. Firmware recovery is performed in the same way as updating.
  • Page 48 Laser Scanners 23.3. "Licenses" section The Licenses section is designed to display the status and manage licenses for "smart blocks" in the Smart tab. On the left side of the section, you can see a list of blocks available in the scanner firmware and the license status for each block: Parameter Description...
  • Page 49 Laser Scanners 2. Send the downloaded file to the scanner manufacturer, pay for the license. After confirming payment, the manufacturer will send you a file, which must be uploaded to the scanner (it will be necessary to select the file by clicking the Choose file button, and then upload it to the scanner using the Upload button): 3.
  • Page 50 Laser Scanners RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 51 Laser Scanners 23.4. "Logs" section The Logs section displays information about the scanner operation that can be used to detect possible errors. This tab contains information about the operations performed and their order. To get the log file, click the Download button. Data can be exported in *.txt and *.csv formats.
  • Page 52 Laser Scanners "Smart" tab The Smart tab is designed to implement the smart functions of the scanner. Smart functions include: · Creating an algorithm for measuring various geometrical and statistical quantities of the controlled profile. · Performing measurements in real time according to a given algorithm. ·...
  • Page 53 Laser Scanners 24.1. Smart blocks and parameters This area is intended for displaying a set of smart blocks, setting parameters of blocks added to the graph, and setting parameters for approximating a profile by a set of segments. The area contains three tabs: ·...
  • Page 54 Laser Scanners 24.1.1. "Smart Blocks" tab The tab contains available smart blocks. The pictogram on the smart block schematically shows the function it performs, while the output data (the result of the block operation) is shown in bold. Examples: the smart block the smart block the smart block outputs a point...
  • Page 55 Laser Scanners 24.1.3. "Profile Approximation" tab The tab provides access to the parameters of the profile approximation algorithm. To display a description of parameters, click on the question mark next to the section name. RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 56 Laser Scanners 24.2. Creating a Smart function The Smart function is created in two stages: Stage 1 - Profile approximation. Stage 2 - Building a graph. 24.2.1. Stage 1. Profile approximation Profile approximation is the first stage in configuring the smart function of the scanner.
  • Page 57 Laser Scanners 24.2.1.1. Splitting profile points into fragments The procedure of splitting into fragments is intended to combine the points belonging to one surface, but separated by random outliers or features of the scanned object. At this stage, the profile fragments containing less than a specified number of points are excluded from further processing.
  • Page 58 Laser Scanners Minimum size = 60 points Minimum size = 150 points Examples of the influence of parameters on splitting a profile into fragments. The Divide threshold parameter: Divide threshold = 4 mm Divide threshold = 6 mm Divide threshold = 10 mm Divide threshold = 15 mm 24.2.1.2.
  • Page 59 Laser Scanners Source profile Maximum deviation = 2 mm Maximum deviation = 1 mm Maximum deviation = 0.1 mm Examples of the influence of parameters on splitting a fragment into a set of segments. The Maximum amount parameter: Maximum amount=2 Maximum amount = 4 Maximum amount = 5 Maximum amount = 10.
  • Page 60 Laser Scanners · Expected radius, mm - sets the minimum and maximum radii of the arc circle. If, as a result of the approximation of a profile element, an arc is obtained, the radius of the circle of which does not fit into the specified limits, then this element will be approximated by a segment.
  • Page 61 Laser Scanners 24.2.1.3. Clarification of approximating line segments and arcs This stage includes the precise determination of the coordinates of the beginning and end of the line segments that approximate the profile, and the coordinates of the intersections of the segments. This stage does not contain any parameters. Approximation is disabled - the beginning of the line Approximation is enabled - the beginning of the line segment lies at the first point of the profile, which...
  • Page 62 Laser Scanners Each block of the graph has a unique (within the graph) identifier (number), displayed in the lower right corner of the block. This identifier allows you to quickly match the block and the search area in which it operates. In addition, at the bottom of the block there are some quick access elements for block control.
  • Page 63 Laser Scanners Moving the search area Resizing the search area 24.2.2.2. Example of building a graph As an illustration of the process of building a graph for solving a specific problem, let's find the distance between points 1 and 2 (the wide base of the trapezoid) on the profile and transfer it to an external controller via the Ethernet/IP protocol.
  • Page 64 Laser Scanners Place the “scal-> float” block in the graph building area to convert the scalar value (internal data type) of the distance to the floating point format (float 4 bytes). Place the “eip” block in the graph building area. This block is designed to transfer the calculated value Ethernet/IP...
  • Page 65 Laser Scanners Search area behavior selection menu (fixed, tracking along X, tracking along Z, tracking along both coordinates) If the search areas are the tracking ones, then when moving the part in the working range of the scanner, they automatically change their position so that the detected segment is in the center of the search area.
  • Page 66 Laser Scanners Button Assignment Downloading the current graph from the scanner for saving it to the PC. The saved graph can later be used on other scanners of the "Smart" series. Uploading a graph from the PC into the scanner. The uploaded graph replaces the current graph and starts calculating automatically.
  • Page 67 Laser Scanners Name Type Description SDT_INT int32_t Signed integer value (size - 4 bytes). SDT_DOUBLE double Double-precision floating-point value (size - 8 bytes). SDT_INT64 int64_t Signed integer value (size - 8 bytes). 24.3.2. Sections Smart blocks are grouped into the following sections: 1.
  • Page 68 Laser Scanners bottom The angle whose vertex has the minimum Z coordinate. left The angle whose vertex has the minimum X coordinate. right The angle whose vertex has the maximum X coordinate. value The first angle satisfying the "Angle average" and "Angle tolerance"...
  • Page 69 Laser Scanners “Angle tolerance”, deg 0...45 The maximum permissible angle between two segments forming a difference in height. “Min step” = 5 mm “Min step” = 10 mm “Min step” = 10 mm “Min step” = 5 mm “Angle tolerance” = 35° “Angle tolerance”...
  • Page 70 Laser Scanners rise edge fall edge first, constr last, constr "Index" 0...256 The segment index used in the "Mode" = "by index". "Min len", mm 0,01...1000 minimum segment length used in modes "Mode" = "first, constr." and “Mode” = “last, constr.”. "Max len", mm 0,01...1000 maximum segment length used in modes...
  • Page 71 Laser Scanners Parameters: “Mode” above Take into account the points lying above the baseline. below Take into account the points lying below the baseline. above below Parameters: “Threshold”, mm 0,01...100 The threshold of the deviation from the baseline. The deviations less than the threshold are not taken into account - they are considered noise.
  • Page 72 Laser Scanners “fixed point” - the fixed point (the position does not depend on the profile). Parameters: “Position by X”, mm 0,01...1000 The position of the point along the X axis. “Position by Z”, mm 0,01...1000 The position of the point along the Z axis. “Position by X”...
  • Page 73 Laser Scanners "Radius value" = 25 mm, "Radius value" = 10 mm, "Radius tolerance" = 5 mm "Radius tolerance" = 1 mm Outputs: "radius" SDT_SCALAR The circle radius in mm. “center” SDT_POINT Circle center coordinates. 24.3.2.2. "Welding" section “templates set” - a set of templates for robotic welding. The template can be set by the user through the block parameters or by an external system using a special block input.
  • Page 74 Laser Scanners “Trapeze groove”: Group of parameters for the “trapeze groove” template. Designation of lines and angles: “Min len (segment 1)”, mm 0,1...1000 Minimum and maximum length of segment “Max len (segment 1)”, mm 0,1...1000 “Min len (segment 2)”, mm 0,1...100 Minimum and maximum length of segment #2.
  • Page 75 Laser Scanners “Angle #2”, deg 50…150 Value and permissible deviation of angle #2. “Angle #2 tolerance”, deg 0...89 “Angle #3”, deg -90…-10 Value and permissible deviation of angle #3. “Angle #3 tolerance”, deg 0...45 “Fillet”: Group of parameters for the "fillet" template. Designation of lines and angles: “Min len (left)”, mm 0,1...1000...
  • Page 76 Laser Scanners “Min len (segment 1)”, mm 0,1...1000 Minimum and maximum length of segment #1. “Max len (segment 1)”, mm 0,1...1000 “Min len (segment 2)”, mm 0,1...100 Minimum and maximum length of segment #2. “Max len (segment 2)”, mm 0,1...100 “Min len (segment 3)”, mm 0,1...1000 Minimum and maximum length of segment #3.
  • Page 77 Laser Scanners Outputs: “det” SDT_BOOL Flag of successful template detection (the joint is recognized, the correct data is output). “segment #1” SDT_SEGMENT Segment #1. “segment #2” SDT_SEGMENT Segment #2. “segment #3” SDT_SEGMENT Segment #3. “segment #4” SDT_SEGMENT Segment #4. “lap weld” - block parameters are the same as parameters of the “lap left” template of the “templates set”...
  • Page 78 Laser Scanners “left segment” SDT_SEGMENT Segment to the left. “right segment” SDT_SEGMENT Segment to the right. 24.3.2.3. "Complex shapes" section “trapeze groove” - searching for a trapezoidal groove formed by five segments (one segment is located to the left of the trapezoid, another segment is located to the right of the trapezoid and three segments make up the trapezoid).
  • Page 79 Laser Scanners “Sides angle” = 21°, “Sides “Sides angle” = 22°, “Sides Sides angle” = 21°, “Sides tolerance” = 2°, tolerance” = 2°, tolerance” = 1°, trapezoid is not detected trapezoid is detected trapezoid is not detected Outputs: “point_1” SDT_POINT Coordinates of point #1.
  • Page 80 Laser Scanners Outputs: “point_1” SDT_POINT Coordinates of point #1. “point_2” SDT_POINT Coordinates of point #2. “point_3” SDT_POINT Coordinates of point #3. “template detector” - detection of a custom template. Parameters: “Edit” Opening the template editor. The procedure for creating a custom template is described in Annex Outputs: “det”...
  • Page 81 Laser Scanners “segment to segment distance” - calculating the distance between two segments arriving at the block inputs. Parameters: “Mode” perpendicular The perpendicular distance between parallel segments. begin<->begin The distance between the beginnings of the segments (leftmost points). begin<->end The distance between the beginning of one segment (leftmost point) and the end of another segment (rightmost point).
  • Page 82 Laser Scanners Measuring the angle and determining the point of Measuring the angle and determining the point of intersection of the side segments of the trapezoid intersection of arbitrary segments on the profile Inputs: “in1” SDT_SEGMENT Segment #1. “in2” SDT_SEGMENT Segment #2.
  • Page 83 Laser Scanners Calculating the center of an arbitrary segment Inputs: “in1” SDT_SEGMENT Segment. Outputs: “middle” SDT_POINT Midpoint. “point 2D to 3D” - converting a point from the local 2D coordinate system of the scanner to the 3D coordinate system of an external device. The conversion is performed according to the following expressions: X = X + x*A...
  • Page 84 Laser Scanners “scalar filtering” - filtering incoming scalar values. Pre-filtering is performed by the median filter specified by the “Median filter” parameter. Smoothing of values can be performed by simple averaging or bilateral filter (parameters “Smoothing filter” and “Filter size”). Parameters: “Median disabled...
  • Page 85 Laser Scanners “scalar to int64” - converting a scalar value to an integer value (size - 8 bytes). The conversion is performed with rounding to the smallest (in absolute value) integer value. Inputs: “in” SDT_SCALAR Scalar value. Outputs: “out” SDT_INT64 Integer value.
  • Page 86 Laser Scanners “inch to mm” - converting a scalar value in inches to a scalar value in millimeters. Inputs: “in” SDT_SCALAR Scalar in inches. Outputs: “result” SDT_SCALAR Scalar in mm. “seg to two points” - converting a line segment to two points corresponding to the ends of the segment.
  • Page 87 Laser Scanners “scanner sensor” - control of the parameters of the CMOS sensor installed in the scanner. Inputs: “pps” SDT_INT The required number of profiles per second (may be limited by the scanner operation mode). “expose1” SDT_INT Frame exposure time in s. 24.3.2.7.
  • Page 88 Laser Scanners Outputs: The outputs are created by the user using the context menu. “UDP” - transmitting and receiving data over UDP (User Datagram Protocol). Parameters: “Output datagram”, 8...16384 The size of the sent datagram. This datagram will bytes contain data from the inputs of the block. “Destination IP”...
  • Page 89 Laser Scanners Inputs: The inputs are created by the user using the context menu. Outputs: The outputs are created by the user using the context menu. “phys out” - output of results to physical outputs of the device. Since physical outputs can only be in two mutually exclusive states (“TRUE”, “FALSE”), the following conversion rule applies: if the value of the input scalar is greater than “0”, then the output is “TRUE”, otherwise - “FALSE”.
  • Page 90 Laser Scanners Only one instance of this block is allowed on the graph. Parameters: Coils: “Address” 0...65535 The starting address of the object. “Count” 0...1968 The number of elements. “Assembly map” Output Distribution of block outputs over the output assembly. The values of the outputs must be located in accordance with this parameter.
  • Page 91 Laser Scanners Outputs: The outputs are created by the user using the context menu. “robot protocol HND1” - data exchange with robots using the HND1 protocol. A description of the protocol is given in Annex 5. Parameters: “Destination IP” XXX.XXX.XXX.XXX The IP address of the robot (or other device with which data is exchanged).
  • Page 92 Laser Scanners Outputs: “idx” SDT_INT The index of the welding template to be used. Maintenance Laser scanners are virtually maintenance free. As these are optical systems, they are sensitive to dust and sputter on the front windows. Cleaning is best done with a soft cloth.
  • Page 93 Laser Scanners Annex 1. Recovery mode The Recovery mode is intended to restore the scanner operability in case of hardware failures or after incorrect user actions. To activate this mode, it is necessary to turn on the scanner with the Reset button pressed and continue to hold this button pressed for at least 10 seconds.
  • Page 94 Laser Scanners Annex 2. Editing defective pixels During the operation of the scanner, defective pixels may appear in the CMOS sensor, which significantly distort the profile extracted from the image. The procedure for marking defective pixels is given below. After marking, the signal value of the defective pixel is automatically calculated as the result of interpolating the signal of adjacent pixels.
  • Page 95 Laser Scanners To clear the table row (cancel the defective pixel interpolation), click in the required row. After clicking , all the defective pixels added to the table will be selected. RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 96 Laser Scanners Annex 3. Overall and mounting dimensions of scanners with options 29.1. Example of a scanner with replaceable protective windows, EW option The scanners with replaceable protective windows: RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 97 Laser Scanners RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 98 Laser Scanners 29.2. Example of a scanner with air cooling, AK-EW-AC option The scanner with replaceable windows, air protection of windows and air cooling: RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 99 Laser Scanners 29.3. Example of a scanner with water cooling, AK-EW-AC option The scanner with replaceable windows, air protection of windows and water cooling: RF627, RF627Smart [Revision 2.1.2] 20.09.2021...
  • Page 100 Laser Scanners Annex 4. Web API 30.1. General device information /hello - getting general information about the device in JSON format. o GET: § 192.168.1.30/hello /api/v1/config/commands - getting a list of commands supported by the device. The formalized description will contain the command name, web API accessibility, command ID, access mode.
  • Page 101 Laser Scanners § 192.168.1.30/api/v1/config/params/restore/load /api/v1/reboot - reboot the device. The parameters will be loaded from the user area (if they are not damaged). o GET: § 192.168.1.30/api/v1/reboot 30.4. Getting information from the device log file /api/v1/log - receiving a log file of the device operation with a full description of the records.
  • Page 102 Laser Scanners Annex 5. HND1 protocol, version 1.0. 31.1. Ethernet interface - link layer спользуемый протокол тр нспортного уровня - UDP. к нер, к к пр вило, подключ ется к контроллеру робот или исполнительной системы и р бот ет к к подчиненное устройство. вусторонний...
  • Page 103 Laser Scanners Type Length intens0 intens1 intens2 intens3 Parameters: - intens0: the intensity of the first (main) laser; - intens1: the intensity of the second (additional) laser; - intens2: the intensity of the third (additional) laser; - intens3: the intensity of the fourth (additional) laser. Scanner response: Type Length...
  • Page 104 Laser Scanners Scanner response: Type Length Parameters: - none. 31.2.5. Turning off the laser Turning off the laser. If the laser is already off, nothing will happen. Command name: MSG_SET_LASER_OFF Scanner command: Type Length Parameters: - none. Scanner response: Type Length Parameters: - none.
  • Page 105 Laser Scanners 31.2.7. Getting device status This command is intended to get information about the status of the device. Command name: MSG_GET_SENSOR_STATUS Scanner command: Type Length Parameters: - none. Scanner response: Type Length mode pad1[0] pad1[15] temp1 temp2 temp3 heater pad2[0] pad2[15] gain...
  • Page 106 Laser Scanners - X2: the X coordinate of the bottom right point of the ROI - currently not used, will be ignored; - Y2: the Y coordinate of the bottom right point of the ROI; - pad3: separator-reserve; - las: laser state (0 - off, 1 - on), this parameter is not affected by the hardware shutdown of the laser;...
  • Page 107 Laser Scanners 31.2.10. Getting the temperature of the scanner This command requests the internal temperature of the scanner. A sensor installed on the CPU is used, because the CPU is the most heat-generating element. Command name: MSG_GET_MAIN_BD_TEMP Scanner command: Type Length Parameters: - none.
  • Page 108 Laser Scanners pt[15].st prm[0].val prm[0].st prm[15].val prm[15].st pad[0] pad[63] Parameters: - timestamp: system timestamp of measurement results generation, ms; - pt[0].x: X coordinate of point #1 (float, mm); - pt[0].z: Z coordinate of point #1 (float, mm); - pt[0].st: status of point #1; - pt[15].x: X coordinate of point #16 (float, mm);...
  • Page 109 Laser Scanners Annex 6. "Template detector" smart block and Template Editor 32.1. General information The “template detector” smart block is designed to detect a user-defined template in the profile. The template is formed by the user using a special editor described below. The current profile approximation or a user-drawn sequence of line segments can be used as a basis for creating a template.
  • Page 110 Laser Scanners The search for a template in a profile is based on a sequential check of self constraints and relative constraints for the elements of the profile approximation. The search starts for the first variant, and if at least one constraint is not met, the check stops and the next variant will be checked.
  • Page 111 Laser Scanners 32.3.1.1. Area for displaying and configuring template parameters This area contains three sections: 1 - Template variants. This section allows the user to add, remove, and change variants. Important: the first variant must always exist and include all elements of the template.
  • Page 112 Laser Scanners Button Assignment Selecting template elements. In this mode, the template element is selected by clicking on it. Drawing template elements. In this mode, adding a point for drawing template elements occurs when you click in the coordinate plane. Reset drawn lines in drawing mode.
  • Page 113 Laser Scanners 32.3.2. Working with the template editor The Template Editor allows the user to create, view, change, and clean up a template. 32.3.2.1. Creating template elements Template elements can be created by the user by sequential drawing of segments, or automatically based on the results of approximation of the current profile.
  • Page 114 Laser Scanners 32.3.2.1.2. Automatic creation of template elements To automatically generate template elements, click Generate: In this case, template elements are created based on the results of approximation of the current profile. The note about the shape of the polyline (formed from template elements) in the previous paragraph should be taken into account in this case as well.
  • Page 115 Laser Scanners 32.3.2.2.2. Relative constraints Relative constraints are applied only to a pair of elements and are set from the main element to the relative one. The following relative constraints are provided: Distance The shortest distance from the end point of the main element to the start point of the relative element: Parameters: ·...
  • Page 116 Laser Scanners Parameters: · value - target angle between base elements and relative elements (positive values define the counterclockwise direction); · tolerance - deviation from the target angle (determined on both sides of the target angle). Distance ortho The distance between the starting point of the relative element and the starting point of the main element in the perpendicular direction (the perpendicular is set by the main element): Parameters: ·...
  • Page 117 Laser Scanners When you click , a drop-down list appears: Adding a self constraint Adding a relative constraint After selecting the required constraint, it will be displayed in the list of constraints for this element: For relative constraints, the template editor displays the number of the relative element for which this constraint is specified.
  • Page 118 Laser Scanners Configuring the selected constraint consists in setting its parameters, the number of which is determined by the type of constraint. To quickly set the required values, the panel contains buttons for increasing and decreasing the current value: 32.3.2.4. Creating and customizing template variants The template variant determines which elements of the template may be missing.
  • Page 119 Laser Scanners Examples of different variants of the same template: Variant 1 - All lines are active Variant 2 -. Line 3 is not active Variant 3 - Line 2 is not active 32.3.3. Example of creating a template Below is a sequence of steps to create a template that describes the shape of the profile shown in the screenshot.
  • Page 120 Laser Scanners Description Screenshot Creating template elements Click the Generate button to automatically create template elements or draw them manually according to the profile lines. Adding constraints for element 1 Select segment 1 - in this case, it will become the main element. In the "Self constraints"...
  • Page 121 Laser Scanners Description Screenshot In the "Relative constraints" section of element 1, add a constraint of the "Angle" type. Select the added constraint in the "Relative constraints" list and specify the target angle and tolerance. When determining the target angle, it is necessary to roughly align the gray arrow with the relative element.
  • Page 122 Laser Scanners Description Screenshot Adding constraints for element 2 Reset the previous selection by clicking in an empty area (which does not contain any elements of profile approximation). Select segment 2 - in this case, it will become the main element. In the "Self constraints"...
  • Page 123 Laser Scanners Description Screenshot Adding constraints for element 3 Reset the previous selection. Select segment 3 - in this case, it will become the main element. In the "Self constraints" section of element 3, add a constraint of the "Length" type. Select the added constraint in the "Self constraints"...
  • Page 124 Laser Scanners Description Screenshot In the "Relative constraints" section of element 3, add a constraint of the "Angle" type. Select the added constraint in the "Relative constraints" list and specify the target angle and tolerance. Adding constraints for element 4 Reset the previous selection.
  • Page 125 Laser Scanners Description Screenshot Add a new variant by clicking the "ADD" button in the "Variants" section and make element 3 inactive (uncheck the box). Add a new variant by clicking the "ADD" button in the "Variants" section and make element 2 inactive (uncheck the box).
  • Page 126 Laser Scanners Annex 7. "C-script" smart block 33.1. General information The “C-script” smart block is intended for editing and executing custom scripts in the C-like language “rfc”. The script is validated before execution - in case of errors, information about them will be displayed in the script editor console. Interaction with other smart blocks is carried out using the input and output dynamically created ports.
  • Page 127 Laser Scanners 5. Script editing area. 6. Console for displaying errors and messages. 33.2. Supported data types The set of data types available to the user includes basic types, extended types, and special data types. The basic types are the standard C language types: Type Size, byte char...
  • Page 128 Laser Scanners Type Size, byte Description float r; bool_t convex; 33.3. Supported methods 33.3.1. Basic methods ctype.h int isalnum(int) int isalpha(int) int isblank(int) int iscntrl(int) int isdigit(int) int isgraph(int) int islower(int) int isprint(int) int ispunct(int) int isspace(int) int isupper(int) int isxdigit(int) int tolower(int) int toupper(int) int isascii(int)
  • Page 129 = input_point("point"); output_float("roi_pos", pt->z + ROI_SIZE/2); outputs_sync(); Warranty policy Warranty assurance for Laser Scanners RF627 Series – 24 months from the date of shipping; warranty shelf-life – 12 months. Warranty repair is not provided in the following cases: · mechanical damage caused by impacts or falling from height, ·...
  • Page 130 Laser Scanners Technical support for software developed by the customer is paid, and includes the possibility to add new features to software. Technical support contacts: · E-mail: support@riftek.com · Skype: riftek_support Revisions Date Revision Description 16.11.2018 1.0.0 Starting document. 28.12.2018 1.0.1...

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